dataset dict | env null | policy dict | output_dir stringclasses 1
value | job_name stringclasses 1
value | resume bool 1
class | device stringclasses 1
value | use_amp bool 1
class | seed int64 1k 1k | num_workers int64 4 4 | batch_size int64 8 8 | eval_freq int64 20k 20k | log_freq int64 200 200 | save_checkpoint bool 1
class | save_freq int64 20k 20k | offline dict | online dict | use_policy_training_preset bool 1
class | optimizer dict | scheduler null | eval dict | wandb dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
{
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0.5,
1.5
]
}
}
}
},
"local_files_only": false,
"use_imagenet_stats": true,
"video_backend": "pyav"
} | null | {
"type": "act",
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"STATE": "MEAN_STD",
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},
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640
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},
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]
}
},
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}
},
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"n_vae_encoder_layers": 4,
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"dropout": 0.1,
"kl_weight": 10,
"optimizer_lr": 0.00001,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 0.00001
} | outputs/train/act_so100_test | act_so100_test | false | cuda | false | 1,000 | 4 | 8 | 20,000 | 200 | true | 20,000 | {
"steps": 100000
} | {
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"sampling_ratio": 0.5,
"env_seed": null,
"buffer_capacity": null,
"buffer_seed_size": 0,
"do_rollout_async": false
} | true | {
"type": "adamw",
"lr": 0.00001,
"weight_decay": 0.0001,
"grad_clip_norm": 10,
"betas": [
0.9,
0.999
],
"eps": 1e-8
} | null | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null
} |
{
"repo_id": "lyhhan/so100_test",
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"random_order": false,
"tfs": {
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"kwargs": {
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}
},
"contrast": {
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"type": "ColorJitter",
"kwargs": {
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}
},
"saturation": {
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"kwargs": {
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}
},
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"kwargs": {
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0.05
]
}
},
"sharpness": {
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"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
}
}
},
"local_files_only": false,
"use_imagenet_stats": true,
"video_backend": "pyav"
} | null | {
"type": "act",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
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6
]
},
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480,
640
]
},
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3,
480,
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}
},
"output_features": {
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"shape": [
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}
},
"chunk_size": 100,
"n_action_steps": 100,
"vision_backbone": "resnet18",
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
"replace_final_stride_with_dilation": false,
"pre_norm": false,
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"n_heads": 8,
"dim_feedforward": 3200,
"feedforward_activation": "relu",
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"use_vae": true,
"latent_dim": 32,
"n_vae_encoder_layers": 4,
"temporal_ensemble_coeff": null,
"dropout": 0.1,
"kl_weight": 10,
"optimizer_lr": 0.00001,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 0.00001
} | outputs/train/act_so100_test | act_so100_test | false | cuda | false | 1,000 | 4 | 8 | 20,000 | 200 | true | 20,000 | {
"steps": 100000
} | {
"steps": 0,
"rollout_n_episodes": 1,
"rollout_batch_size": 1,
"steps_between_rollouts": null,
"sampling_ratio": 0.5,
"env_seed": null,
"buffer_capacity": null,
"buffer_seed_size": 0,
"do_rollout_async": false
} | true | {
"type": "adamw",
"lr": 0.00001,
"weight_decay": 0.0001,
"grad_clip_norm": 10,
"betas": [
0.9,
0.999
],
"eps": 1e-8
} | null | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null
} |
{
"repo_id": "lyhhan/so100_test",
"episodes": null,
"image_transforms": {
"enable": false,
"max_num_transforms": 3,
"random_order": false,
"tfs": {
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"kwargs": {
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1.2
]
}
},
"contrast": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"contrast": [
0.8,
1.2
]
}
},
"saturation": {
"weight": 1,
"type": "ColorJitter",
"kwargs": {
"saturation": [
0.5,
1.5
]
}
},
"hue": {
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"type": "ColorJitter",
"kwargs": {
"hue": [
-0.05,
0.05
]
}
},
"sharpness": {
"weight": 1,
"type": "SharpnessJitter",
"kwargs": {
"sharpness": [
0.5,
1.5
]
}
}
}
},
"local_files_only": false,
"use_imagenet_stats": true,
"video_backend": "pyav"
} | null | {
"type": "act",
"n_obs_steps": 1,
"normalization_mapping": {
"VISUAL": "MEAN_STD",
"STATE": "MEAN_STD",
"ACTION": "MEAN_STD"
},
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6
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},
"observation.images.laptop": {
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480,
640
]
},
"observation.images.phone": {
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480,
640
]
}
},
"output_features": {
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}
},
"chunk_size": 100,
"n_action_steps": 100,
"vision_backbone": "resnet18",
"pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
"replace_final_stride_with_dilation": false,
"pre_norm": false,
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"n_heads": 8,
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"feedforward_activation": "relu",
"n_encoder_layers": 4,
"n_decoder_layers": 1,
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"latent_dim": 32,
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"dropout": 0.1,
"kl_weight": 10,
"optimizer_lr": 0.00001,
"optimizer_weight_decay": 0.0001,
"optimizer_lr_backbone": 0.00001
} | outputs/train/act_so100_test | act_so100_test | false | cuda | false | 1,000 | 4 | 8 | 20,000 | 200 | true | 20,000 | {
"steps": 100000
} | {
"steps": 0,
"rollout_n_episodes": 1,
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"steps_between_rollouts": null,
"sampling_ratio": 0.5,
"env_seed": null,
"buffer_capacity": null,
"buffer_seed_size": 0,
"do_rollout_async": false
} | true | {
"type": "adamw",
"lr": 0.00001,
"weight_decay": 0.0001,
"grad_clip_norm": 10,
"betas": [
0.9,
0.999
],
"eps": 1e-8
} | null | {
"n_episodes": 50,
"batch_size": 50,
"use_async_envs": false
} | {
"enable": false,
"disable_artifact": false,
"project": "lerobot",
"entity": null,
"notes": null
} |
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